Discretely Actuated Hyper-Redundant Manipulators: A Compact Review of Prototypes and Performance

Discretely Actuated Hyper-Redundant Manipulators (DAHRMs), built from serially-connected modules with finite-state actuators, offer simplified control, high repeatability, and reduced cost compared to continuous robots. However, their discrete motion and piecewise path tracking have limited widespread adoption. This review synthesizes the landscape of DAHRM development, analyzing the design, actuation, and capabilities of key prototypes. By comparing their performance, this work provides a foundational resource for assessing the suitability of DAHRMs for specific applications, guiding future research and design choices in this niche yet promising field.

کلیدواژه ها:

Hyper-Redundant Manipulators ، Discrete Actuation ، Binary Actuators ، Robotic Prototypes ، Performance Review